Axial deviation estimation apparatus

Abstract

An axial deviation estimation apparatus of an in-vehicle sensor includes a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle, an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle, and a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit. The estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar.

What is claimed is: 
     
       1. An axial deviation estimation apparatus of an in-vehicle sensor, the axial deviation estimation apparatus comprising:
 a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle; 
 an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle; and 
 a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit, 
 wherein the estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar, 
 wherein the estimation unit updates an estimation result of the axial deviation amount when a predetermined condition is satisfied, 
 wherein the predetermined condition is that a variation amount of the axial deviation amount based on the inclination is equal to or smaller than a threshold when the vehicle travels a predetermined distance or more, and 
 wherein the road surface recognition unit, the estimation unit, and the plane creation unit are each implemented via at least one processor. 
 
     
     
       2. The axial deviation estimation apparatus according to  claim 1 ,
 wherein the plane creation unit detects three or more points on the road surface and creates the virtual plane based on the three or more points. 
 
     
     
       3. The axial deviation estimation apparatus according to  claim 2 ,
 wherein the three or more points are points at which a reflection intensity on the road surface is equal to or larger than a predetermined value. 
 
     
     
       4. The axial deviation estimation apparatus according to  claim 1 ,
 wherein the estimation unit estimates the axial deviation amount based on the virtual plane closest to the vehicle when a plurality of the virtual planes are created by the plane creation unit. 
 
     
     
       5. The axial deviation estimation apparatus according to  claim 1 ,
 wherein the estimation unit calculates an average of the axial deviation amounts estimated from the virtual planes when a plurality of the virtual planes are created by the plane creation unit. 
 
     
     
       6. The axial deviation estimation apparatus according to  claim 5 ,
 wherein the average is a weighted average in which a higher weight is set for the axial deviation amount estimated from the virtual plane closer to the vehicle. 
 
     
     
       7. The axial deviation estimation apparatus according to  claim 1 ,
 wherein the plane creation unit creates, based on the recognition result at a certain timing, a first virtual plane of the road surface and a second virtual plane of a portion of the road surface farther from the vehicle than the first virtual plane, the second virtual plane having an angle difference with the first virtual plane equal to or smaller than a threshold, and 
 wherein the estimation unit estimates the axial deviation amount based on a third virtual plane created at a timing at which the vehicle is present on a portion of the road surface corresponding to the first virtual plane. 
 
     
     
       8. The axial deviation estimation apparatus according to  claim 7 ,
 wherein the third virtual plane is a virtual plane of a portion of the road surface corresponding to the second virtual plane. 
 
     
     
       9. The axial deviation estimation apparatus according to  claim 7 ,
 wherein the estimation unit estimates the axial deviation amount based on an inclination of the third virtual plane with respect to the reference plane. 
 
     
     
       10. An axial deviation estimation apparatus of an in-vehicle sensor, the axial deviation estimation apparatus comprising:
 a road surface recognition unit configured to recognize a road surface by a laser radar installed in a vehicle; 
 an estimation unit configured to estimate an axial deviation amount of the in-vehicle sensor mounted on the vehicle; and 
 a plane creation unit configured to create a virtual plane of the road surface based on a recognition result of the road surface recognition unit, 
 wherein the estimation unit estimates the axial deviation amount based on an inclination of the virtual plane with respect to a reference plane of the laser radar, 
 wherein the plane creation unit creates, based on the recognition result at a certain timing, a first virtual plane of the road surface and a second virtual plane of a portion of the road surface farther from the vehicle than the first virtual plane, the second virtual plane having an angle difference with the first virtual plane equal to or smaller than a threshold, 
 wherein the estimation unit estimates the axial deviation amount based on a third virtual plane created at a timing at which the vehicle is present on a portion of the road surface corresponding to the first virtual plane, and 
 wherein the road surface recognition unit, the estimation unit, and the plane creation unit are each implemented via at least one processor. 
 
     
     
       11. The axial deviation estimation apparatus according to  claim 10 ,
 wherein the third virtual plane is a virtual plane of a portion of the road surface corresponding to the second virtual plane. 
 
     
     
       12. The axial deviation estimation apparatus according to  claim 10 ,
 wherein the estimation unit estimates the axial deviation amount based on an inclination of the third virtual plane with respect to the reference plane.